Bug on PointCloud2Modifier::resize(uint32_t width, uint32_t height)

[Rektino]

Generated by Generative AI

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Operating System:

Ubuntu 24.04

ROS version or commit hash:

rolling

RMW implementation (if applicable):

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RMW Configuration (if applicable):

Client library (if applicable):

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'ros2 doctor --report' output

ros2 doctor --report

<COPY OUTPUT HERE>

Steps to reproduce issue

• define a sensor_msgs::PointCloud2Modifier modifier(cloud_msg); where cloud_msg is sensor_msgs::msg::Pointcloud2
• run modifier.resize(width , height) assuming an organized pointcloud.
• print the cloud_msg.row_step, it should show the total size of the pointcloud instead of width * point_step

Expected behavior

cloud_msg.row_step = cloud_msg.width * cloud_msg.point_step;
should be added after manually assigning height, width in the resize(width, height) function overload.

Actual behavior

The function does a few simple things :

• Call the resize(size_t size) overload which sets the pointcloud total size, its height to 1, its width to size, and row_step to size (!!)
• Subsequently manually fixes the height and width to match the passed height,width params.
• It does NOT fix the row_step, which should be :
  cloud_msg.row_step = cloud_msg.width * cloud_msg.point_step;

The row_step is wrongly equal to total points.

Additional information

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